def __init__(self, renderer=True, realtime=True, ip="127.0.0.1", port="21590", buf='16384'): """ initializes the virtual world, variables, the frame rate and the callback functions.""" print "ODEEnvironment -- based on Open Dynamics Engine." # initialize base class GraphicalEnvironment.__init__(self) if renderer: self.updateDone = True self.updateLock = threading.Lock() self.server = UDPServer(ip, port, buf) self.render=renderer self.realtime=realtime # initialize attributes self.resetAttributes() # initialize the textures dictionary self.textures = {} # initialize sensor and exclude list self.sensors = [] self.excludesensors = [] #initialize actuators list self.actuators = [] # A joint group for the contact joints that are generated whenever two bodies collide self.contactgroup = ode.JointGroup() self.dt = 0.01 self.FricMu = 8.0 self.stepsPerAction = 1 self.stepCounter = 0
def __init__(self, dim=1): GraphicalEnvironment.__init__(self) self.dim = dim self.indim = dim self.outdim = dim self.noise = None self.reset()
def __init__(self, randomInitState, x_goal, y_goal): GraphicalEnvironment.__init__(self) self.x_goal = x_goal self.y_goal = y_goal self.randomInitState = randomInitState self.reset() self.actions = [0.0, 0.0] self._save_wheel_contact_trajectories = False
def __init__(self, polelength = None): GraphicalEnvironment.__init__(self) if polelength != None: self.l = polelength # initialize the environment (randomly) self.reset() self.action = 0.0 self.delay = False
def __init__(self, polelength=None): GraphicalEnvironment.__init__(self) if polelength != None: self.l = polelength # initialize the environment (randomly) self.reset() self.action = 0.0 self.delay = False
def __init__(self, render=True, ip="127.0.0.1", port="21580", numdir=1): GraphicalEnvironment.__init__(self) # initialize the environment (randomly) self.action = [0.0, 0.0] self.delay = False self.numdir = numdir # number of directions in which ship starts self.render=render if self.render: self.updateDone=True self.updateLock=threading.Lock() self.server=UDPServer(ip, port) self.reset()
def __init__(self, render=True, ip="127.0.0.1", port="21580", numdir=1): GraphicalEnvironment.__init__(self) # initialize the environment (randomly) self.action = [0.0, 0.0] self.delay = False self.numdir = numdir # number of directions in which ship starts self.render = render if self.render: self.updateDone = True self.updateLock = threading.Lock() self.server = UDPServer(ip, port) self.reset()